Torque sensor and implementation method thereof

Abstract

The invention discloses a torque sensor and an implementation method thereof, the torque sensor comprises a composite elastomer and a sensing strain gauge, the composite elastomer comprises an outer fixing ring, an inner fixing ring, a spoke strain beam and a Y-shaped strain beam, the outer fixing ring and the inner fixing ring are of a concentric ring structure, the spoke strain beam is radially connected with the outer fixing ring and the inner fixing ring, and the Y-shaped strain beam is connected with the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between the adjacent spoke strain beams, and the sensing strain gauges are printed on the Y-shaped strain beams and are connected to form a Wheatstone bridge. The anti-interference capability of the torque sensor can be improved, and the torque sensor can be widely applied to the technical field of sensors.

Description

Technical Field

[0001] This application relates to the technical field of sensors, and particularly to a torque sensor and an implementation method thereof. Background Art

[0002] Torque sensors are used to detect the torsion moment perception on various rotating or non-rotating mechanical components, and convert the physical change of the torsion force into an accurate electrical signal. In related technologies, there is a torque sensor that pastes strain gauges on an elastic element. When the elastic element is deformed under the action of torque, the resistance value of the strain gauge will change, and the magnitude of the torque can be obtained by measuring the change in the resistance value. However, in practical applications, it is found that mechanical vibration may cause additional strain on the strain gauge, thereby interfering with the normal torque measurement signal. Especially in a working environment with large vibrations, additional vibration damping measures need to be taken to ensure the measurement accuracy, but this will also increase the complexity and cost of the system.

[0003] In summary, the technical problems existing in the related technologies need to be improved. Summary of the Invention

[0004] The main purpose of the embodiments of this application is to propose a torque sensor and an implementation method thereof, which can improve the anti-crosstalk ability of the sensor.

[0005] To achieve the above purpose, on the one hand, an embodiment of this application proposes a torque sensor, which includes a composite elastic body and a sensing strain gauge. The composite elastic body includes an outer fixing ring, an inner fixing ring, spoke strain beams, and a Y-shaped strain beam.

[0006] The outer fixing ring and the inner fixing ring are concentric ring structures. The spoke strain beams are radially connected to the outer fixing ring and the inner fixing ring. The Y-shaped strain beam is arranged between adjacent spoke strain beams. The sensing strain gauges are printed on the Y-shaped strain beams and connected to form a Wheatstone bridge.

[0007] In some embodiments, the outer fixing ring is provided with an array of outer fixing holes, and the inner fixing ring is provided with an array of inner fixing holes. The outer fixing holes are used to connect the housing of the device to be measured for torque, and the inner fixing holes are used to connect the torque output shaft of the device to be measured for torque.

[0008] In some embodiments, the cross-section of the spoke strain beam is rectangular, and the rectangular cross-section of the spoke strain beam is used to optimize the bending and torsional stiffness.

[0009] In some embodiments, the Y-shaped strain beam includes a first strain beam, a second strain beam, and a third strain beam. The first strain beam is disposed on the left side of the third strain beam, and the second strain beam is disposed on the right side of the third strain beam. The third strain beam is a rectangular strain beam, and the third strain beam is used to connect the Y-shaped strain beam and the inner fixing ring.

[0010] In some embodiments, the sensing strain gauges include a first strain gauge and a second strain gauge. The first strain gauge and the second strain gauge are printed on the upper surface of the third strain beam, and the center points of the first strain gauge and the second strain gauge are located on the center line of the third strain beam.

[0011] In some embodiments, the material of the sensing strain gauges is carbon nanotube-silver composite conductive ink.

[0012] To achieve the above object, on the other hand, an embodiment of the present application provides a torque measurement method. The torque measurement method is applied to the torque sensor as described in any one of the foregoing, and the method includes the following steps:

[0013] Fix the torque output shaft of the device to be measured with interference fit through the inner fixing ring and the inner fixing hole of the torque sensor;

[0014] Connect the housing of the device to be measured through the outer fixing ring and the outer fixing hole of the torque sensor;

[0015] Measure the torque output by the torque output shaft of the device to be measured through the spoke strain beam, the Y-shaped strain beam, and the sensing strain gauges of the torque sensor to obtain a measurement result.

[0016] In some embodiments, the step of measuring the torque output by the torque output shaft of the device to be measured through the spoke strain beam, the Y-shaped strain beam, and the sensing strain gauges of the torque sensor to obtain a measurement result includes the following steps:

[0017] The spoke strain beam and the Y-shaped strain beam receive the torque output by the torque output shaft of the device to be measured and generate torque strain;

[0018] Calculate and process the resistance value of the sensing strain gauges according to the torque strain to obtain a resistance change amount;

[0019] Calculate and process the torque according to the resistance change amount to obtain the measurement result.

[0020] To achieve the above object, on the other hand, an embodiment of the present application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the foregoing method is implemented.

[0021] To achieve the above object, on the other hand, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the foregoing method is implemented.

[0022] The embodiments of the present application at least include the following beneficial effects: The present application provides a torque sensor and its implementation method. In this solution, the torque sensor includes a composite elastic body and a sensing strain gauge. The composite elastic body includes an outer fixing ring, an inner fixing ring, spoke strain beams, and Y-shaped strain beams. The torque strain of the sensor can be concentrated and the non-torque strain can be dispersed through the composite elastic body. Most of the strain is shared by the spoke strain beams, and the deformation of the Y-shaped strain beam in the non-normal working torque direction is suppressed for mechanical decoupling, which can reduce the strain output and improve the anti-crosstalk ability of the sensor. In addition, the outer fixing ring and the inner fixing ring are concentric ring structures. The spoke strain beams are radially connected to the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between adjacent spoke strain beams. The sensing strain gauges are printed on the Y-shaped strain beams and connected into a Wheatstone bridge. By connecting the sensing strain gauges into a Wheatstone bridge, the sensitivity of the sensor can be improved, multi-dimensional forces can be measured more accurately, and there are fewer leads and higher integration, enabling miniaturization of the sensor. Description of the Drawings

[0023] Figure 1 is a schematic structural diagram of a torque sensor provided by an embodiment of the present application;

[0024] Figure 2 is a schematic cross-sectional diagram of a torque sensor provided by an embodiment of the present application;

[0025] Figure 3 is a finite element analysis result diagram of a torque sensor provided by an embodiment of the present application when it is working normally;

[0026] Figure 4 is a finite element analysis result diagram of a torque sensor provided by an embodiment of the present application when it is subjected to crosstalk force;

[0027] Figure 5 is a schematic distribution diagram of the sensing strain gauges of a torque sensor provided by an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of the Wheatstone bridge circuit of a torque sensor provided by an embodiment of the present application;

[0029] Figure 7It is a simplified structural diagram of a sensor beam of a torque sensor provided by an embodiment of the present application;

[0030] Figure 8 It is a mechanical simplified model diagram of a torque sensor provided by an embodiment of the present application;

[0031] Figure 9 It is a schematic diagram of the force analysis of a torque sensor provided by an embodiment of the present application. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application detailed in the appended claims.

[0033] It can be understood that the terms "first", "second", etc. used in the present application can be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the words "if", "when" as used herein can be interpreted as "when...", "while...", or "in response to determining".

[0034] The terms "at least one", "a plurality of", "each", "any one", etc. used in the present application, at least one includes one, two or more than two, a plurality includes two or more than two, each refers to each of the corresponding plurality, and any one refers to any one of the plurality.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0036] Before elaborating on the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application will be described first. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0037] 1) A torque sensor, also known as a moment sensor, torsion sensor, torque sensor, or torque meter, is divided into two major categories: dynamic and static. It can convert the physical change of torque into an accurate electrical signal. Torque sensors can be applied in manufacturing viscometers, electric (pneumatic, hydraulic) torque wrenches. They have the advantages of high precision, fast frequency response, good reliability, and long lifespan.

[0038] 2) The Wheatstone bridge, also known as the Wheatstone's bridge or Wheatstone's circuit, is a measuring tool that can detect even more minute changes in resistance and is used to accurately measure the resistance value of a resistor.

[0039] 3) Micro-Electro-Mechanical System (MEMS), also called microelectronic mechanical system, microsystem, micromachine, etc., refers to high-tech devices with dimensions in the order of millimeters or even smaller. The internal structure of MEMS is generally in the micron or even nanometer scale and is an independent intelligent system.

[0040] In related technologies, early torque sensors were based on some simple physical principles, such as using the deformation of elastic elements to indirectly measure torque. For example, by measuring the torsional angle of a torsion bar and combining parameters such as the elastic modulus of the material, the magnitude of the torque was calculated. These early sensors had low precision and were greatly affected by environmental factors. There are torque sensors that attach strain gauges to elastic elements. When the elastic element is deformed under the action of torque, the resistance value of the strain gauge changes, and the magnitude of the torque can be obtained by measuring the change in the resistance value. However, in practical applications, it was found that mechanical vibration might cause additional strain on the strain gauge, thus interfering with the normal torque measurement signal. Especially in a working environment with large vibrations, additional vibration damping measures need to be taken to ensure the measurement accuracy, but this also increases the complexity and cost of the system.

[0041] Exemplarily, for instance, in related technologies, the electrical signals output by sensors are usually relatively weak and are easily interfered with by the surrounding electromagnetic fields. In an industrial environment, there are a large number of electrical devices and electromagnetic radiation sources, such as motors, transformers, etc., which will interfere with the measurement signals of the sensors, resulting in inaccurate measurement results. At the same time, mechanical vibration might cause additional strain on the strain gauge, thus interfering with the normal torque measurement signal. Especially in a working environment with large vibrations, additional vibration damping measures need to be taken to ensure the measurement accuracy, but this also increases the complexity and cost of the system. Additionally, metal strain gauges need to be welded, which requires high requirements for the subsequent assembly process.

[0042] In view of this, an embodiment of the present application provides a torque sensor and an implementation method thereof. In this solution, the torque sensor includes a composite elastic body and a sensing strain gauge. The composite elastic body includes an outer fixing ring, an inner fixing ring, spoke strain beams, and Y-shaped strain beams. The torque strain of the sensor can be concentrated and the non-torque strain can be dispersed through the composite elastic body. Most of the strain is shared by the spoke strain beams, and the deformation of the Y-shaped strain beam in the non-normal working torque direction is suppressed for mechanical decoupling, which can reduce the strain output and improve the anti-crosstalk ability of the sensor. In addition, the outer fixing ring and the inner fixing ring are concentric ring structures. The spoke strain beams are radially connected to the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between adjacent spoke strain beams. The sensing strain gauges are printed on the Y-shaped strain beams and connected into a Wheatstone bridge. By connecting the sensing strain gauges into a Wheatstone bridge, the sensitivity of the sensor can be improved, multi-dimensional forces can be measured more accurately, and there are fewer leads and higher integration, enabling miniaturization of the sensor.

[0043] An embodiment of the present application provides a torque sensor and an implementation method thereof, which relates to the technical field of sensors. A torque sensor provided by an embodiment of the present application can utilize the unique structure of a new type of elastic body and the combination of a Wheatstone bridge microelectromechanical (MEMS) structure of special material composite ink to measure rotational or torsional forces more accurately and has strong anti-interference ability. The torque sensor is installed at the robot joint to monitor the joint torque in real time, ensuring precise control and force feedback, and avoiding collisions or overloads. In the automotive industry, it can monitor the torque of components such as the transmission and drive shaft in real time to optimize power output and fuel efficiency. Installed at the end or joint of the robotic arm of a surgical robot, it provides high-precision force feedback to ensure the accuracy and safety of surgical operations. It can also be installed on an unmanned aerial vehicle for motor torque monitoring to optimize flight control and power distribution and improve flight stability. Among them, the application products of the torque sensor in the embodiments of the present application can cover multiple fields such as industry, automotive, medical, consumer electronics, aerospace, scientific research, and energy. Its high precision, miniaturization, and reliability can become an indispensable component in modern intelligent devices and precision systems.

[0044] Please refer to Figure 1 , Figure 1 FIG. is a torque sensor provided by an embodiment of the present application. The torque sensor includes a composite elastic body and a sensing strain gauge. The composite elastic body includes an outer fixing ring 101, an inner fixing ring 102, spoke strain beams 103, and Y-shaped strain beams 104;

[0045] The outer fixing ring and the inner fixing ring are concentric ring structures. The spoke strain beams are radially connected to the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between adjacent spoke strain beams. The sensing strain gauges are printed on the Y-shaped strain beams and connected into a Wheatstone bridge.

[0046] In the embodiments of the present application, the outer fixing ring and the inner fixing ring are concentric ring structures. The outer fixing ring and the inner fixing ring are used to connect the torque device to be measured. The spoke strain beam and the Y-shaped strain beam are used to bear the torque and force output by the torque device to be measured and generate corresponding strains. The sensing strain gauges are printed on the Y-shaped strain beam and connected into a Wheatstone bridge. When the Y-shaped strain beam is subjected to torque, it will produce a small deformation, resulting in a change in the resistance value of the strain gauge. The Wheatstone bridge can convert the resistance change into a voltage change, and then through signal processing circuits such as amplification and filtering, an electrical signal proportional to the torque is finally obtained to obtain the torque measurement result.

[0047] One of the above technical solutions has the following advantages or beneficial effects: In the embodiments of the present application, the torque strain of the sensor is concentrated by the composite elastomer and the non-torque strain is dispersed. The spoke strain beam shares most of the strain, and the deformation of the Y-shaped strain beam in the non-normal working torque direction is suppressed for mechanical decoupling, which can reduce the strain output and improve the anti-crosstalk ability of the sensor.

[0048] Please refer to Figure 1 , in some embodiments, the outer fixing ring 101 is provided with an array of outer fixing holes 107, and the inner fixing ring 102 is provided with an array of inner fixing holes 108. The outer fixing holes are used to connect the housing of the torque device to be measured, and the inner fixing holes are used to connect the torque output shaft of the torque device to be measured.

[0049] In the embodiments of the present application, as Figure 1 shown, the outer fixing ring (101) and the inner fixing ring (102) are concentric ring structures, and the outer fixing ring (101) and the inner fixing ring (102) are respectively provided with an array of a plurality of outer fixing holes (107) and inner fixing holes (108). The inner fixing ring (102) is fixed to the torque output shaft of the torque device to be measured (such as a speed reducer) by interference fit through the inner fixing holes (108), and the outer fixing ring (101) is connected to the housing of the torque device to be measured by bolts or the like through the outer fixing holes (107).

[0050] One of the above technical solutions has the following advantages or beneficial effects: In the embodiments of the present application, the inner fixing ring and the outer fixing ring can better connect with the torque device to be measured, facilitating the reception of the torque and force output by the torque matrix device to be measured and improving the accuracy of torque measurement.

[0051] In some embodiments, the cross-section of the spoke strain beam is rectangular, and the bending and torsional stiffness are optimized by the spoke strain beam with a rectangular cross-section.

[0052] In the embodiments of the present application, as Figure 1As shown, the spoke strain beams can be arranged as four identical spoke strain beams, and the four spoke strain beams (103) are radially connected to the inner fixing ring and the outer fixing ring at 90° intervals. Among them, the cross-section of the spoke strain beam is rectangular, which can optimize the bending and torsional stiffness. Compared with the circular cross-section, the bending stiffness of the embodiment of the present application is higher, and compared with the I-shaped cross-section, the torsional stiffness of the embodiment of the present application is higher.

[0053] Please refer to Figure 1 , in some embodiments, the Y-shaped strain beam 104 includes a first strain beam 104a, a second strain beam 104b, and a third strain beam 104c. The first strain beam 104a is arranged on the left side of the third strain beam 104c, the second strain beam 104b is arranged on the right side of the third strain beam 104c, the third strain beam 104c is a rectangular strain beam, and the third strain beam 104c is used to connect the Y-shaped strain beam 104 and the inner fixing ring 102.

[0054] In the embodiment of the present application, as Figure 1 shown, the Y-shaped strain beam (104) is composed of a first strain beam (104a), a second strain beam (104b), and a third strain beam (104c). The third strain beam (104c) is the nearest rectangular strain beam with a chamfer at the connection of the Y-shaped strain beam (104) and the inner fixing ring (102). Looking from the top view perspective and from the direction outward from the center of the overall structure, the first strain beam (104a) is located on the left side of the third strain beam (104c), and the second strain beam (104b) is located on the right side of the third strain beam (104c). The obtuse angle formed by the first strain beam (104a) and the second strain beam (104b) is 140°. The first strain beam (104a) and the second strain beam (104b) are axisymmetric structures with respect to the radial symmetry axis of the third strain beam (104c). Please refer to Figure 2 , taking Figure 2 's vertical direction as the axial direction, and taking Figure 2 's vertically upward direction as the upward direction, the thickness of the third strain beam (104c) in the axial direction is thinner than that of the first and second strain beams (104a, 104b).

[0055] Please refer to Figure 1 , in some embodiments, the sensing strain gauge includes a first strain gauge 105 and a second strain gauge 106. The first strain gauge 105 and the second strain gauge 106 are printed on the upper surface of the third strain beam 104c. The center points of the first strain gauge 105 and the second strain gauge 106 are located on the center line of the third strain beam 104c, and the center line is perpendicular to the radial direction in the top view plane.

[0056] In some embodiments, the material of the sensing strain gauge is carbon nanotube-silver composite conductive ink.

[0057] Please refer to Figure 1 , in the embodiment of the present application, the inner fixing ring (102) is fixed to the torque output shaft of the torque measuring device by interference fit through the inner fixing hole (108), and the outer fixing ring (101) is connected to the housing of the torque measuring mechanism by bolts or other means through the outer fixing hole (107). The spoke strain beam (103) and the Y-shaped strain beam (104) both bear torque and force when the elastomer is stressed and generate corresponding strains. The resistance values of the first strain gauge (105) and the second strain gauge (106) on each third strain beam (104c) change due to the strain amount at their pasted positions when the elastomer is externally stressed. The specific resistance change amount can be calculated by the resistance change amount formula, and the resistance change amount formula is shown as follows:

[0058] dR / R = 9.8*mean(∈length) + 5.4*mean(∈width);

[0059] In the formula, dR / R represents the resistance change amount, mean(∈length) represents the average value of the strains of all nodes of the same FSL resistor in the length direction, mean(∈width) represents the average value of the strains of all nodes of the same FSL resistor in the width direction, and FSL represents the carbon nanotube-silver composite conductive ink strain gauge.

[0060] Please refer to Figure 1 , Figure 3 and Figure 4 , in the figure, the magnitude of the model strain is represented by its color, E represents strain, the third strain beam (104c) of the Y-shaped strain beam (104) bears the maximum shear strain, while the spoke strain beam (103) only generates negligible strain, so as to concentrate the strain in the measurement area and improve the sensitivity. When the sensor is subjected to torque, axial force or radial force in other directions, that is, crosstalk torque and crosstalk force, taking the axial force as an example, from the finite element analysis results such as Figure 4 it can be seen that due to the above special structural design, the spoke strain beam (103) shares most of the strain, inhibits the deformation of the Y-shaped strain beam (104) in the non-normal working torque direction, realizes mechanical decoupling, and achieves the effect of reducing strain output, that is, anti-crosstalk.

[0061] Please refer to Figure 5 , in the embodiment of the present application, the strain gauges on the sensor are numbered S1 to S8, and the bridge of the Wheatstone bridge circuit is formed in the way of Figure 6 . Connecting S1 and S5, S2 and S6, S3 and S7, S4 and S8 respectively form the four bridge arms of the Wheatstone bridge full bridge, and the resistors corresponding to S1 to S8 are R1 to R8.

[0062] Please refer to Figure 7 , Figure 8 and Figure 9, according to the shear beam theory in mechanics of materials, the stress analysis of the strain beam of the torque sensor can be carried out. Among them, R represents the inner radius, M represents the bending moment, L represents the beam length, H represents the beam width, B represents the beam thickness, B, D, H, and F respectively represent the support bodies in four different directions, A, C, G, and E are the connecting bodies in different directions, O(z) represents the origin, x and y represent the x-axis and y-axis, Mz represents the shear force, A represents the force in the horizontal direction, Fy represents the shear force received by a single elastic beam, y represents the distance of any point from the central plane, ε represents the shear stress of any point at a distance y from the neutral plane, θ represents the strain angle, and M represents the elastic modulus / Young's modulus.

[0063] As can be seen from the shear beam theory in mechanics of materials, when the normal working torque M acts, the strain amounts ε 11 , ε 12 , ε 21 , ε 22 of the first strain gauge (105) and the second strain gauge (106) in the length and width directions have the following relationship with the torque M:

[0064]

[0065] Combined with the formula for the change in resistance, we have:

[0066] dR1 / R1 = -dR2 / R2 = 4.4KM

[0067] Therefore, the change in resistance ΔR of S1 to S8 has a linear relationship with the torque M (ΔR = 4.4KM), and the first strain gauge (105) and the second strain gauge (106) generate opposite ΔR due to the symmetrical layout, that is, ΔR1 = -ΔR2. Combining Figure 6 the Wheatstone bridge circuit shown,

[0068]

[0069] The bridge is zeroed before use, that is

[0070] (R 1 +R 5 )(R 3 +R 7 ) = (R 2 +R 6 )(R 4 +R 8 )

[0071] Omitting the quadratic terms and simplifying to obtain the output voltage of the bridge circuit:

[0072]

[0073] If an equal-arm bridge is used, then R i= R, (i = 1, 2, ……, 8), there is

[0074]

[0075] Given ΔR i = -ΔR j = 4.4 KM = K'M, (i = 1, 3, 5, 7; j = 2, 4, 6, 8), then there is

[0076]

[0077] According to the circuit principle:

[0078] At this time, the first strain gauge (105) and the second strain gauge (106) form a differential output.

[0079] When the torque sensor of the embodiment of the present application is subjected to crosstalk force and crosstalk torque, the same-phase and most of the changes in the resistance changes ΔR of the first strain gauge (105) and the second strain gauge (106) are mutually cancelled out, and the output voltage △U only reflects the torque component in the normal working direction or only outputs a very small voltage that cannot be mutually cancelled out, realizing anti-interference at the hardware level to achieve the effect of reducing crosstalk output.

[0080] Table 1 is a simulation result table, which is the simulation result of the torque sensor of the embodiment of the present application simulating the output of the strain gauge under standard (normal working conditions) and various crosstalk force and torque conditions through finite element analysis, as shown in Table 1 below:

[0081]

[0082]

[0083] Table 1 Simulation Result Table

[0084] According to the simulation results, it can be shown that the sensor of the embodiment of the present application has good crosstalk resistance.

[0085] The embodiment of the present application also provides a torque measurement method, the torque measurement method is applied to the torque sensor as described in any one of the foregoing, and the method includes the following steps:

[0086] Fix the torque output shaft of the device to be measured with interference fit through the inner fixing ring and inner fixing hole of the torque sensor;

[0087] Connect the housing of the device to be measured through the outer fixing ring and outer fixing hole of the torque sensor;

[0088] The torque output by the torque output shaft of the torque device to be measured is measured by the spoke strain beam, Y-shaped strain beam and transmission strain gauge of the torque sensor to obtain a measurement result.

[0089] In some embodiments, the method of measuring the torque output by the torque output shaft of the torque device to be measured by the spoke strain beam, Y-shaped strain beam and transmission strain gauge of the torque sensor to obtain a measurement result includes the following steps:

[0090] The spoke strain beam and the Y-shaped strain beam receive the torque output by the torque output shaft of the torque device to be measured and generate torque strain.

[0091] The resistance value of the transmission strain gauge is calculated and processed according to the torque strain to obtain a resistance change amount.

[0092] The torque is calculated and processed according to the resistance change amount to obtain the measurement result.

[0093] It can be understood that the content in the above device embodiments is applicable to the method embodiments of the present application. The functions specifically implemented in the method embodiments of the present application are the same as those in the above device embodiments, and the beneficial effects achieved are also the same as those in the above device embodiments.

[0094] An embodiment of the present application further provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above torque measurement method is implemented. The electronic device can be any intelligent terminal including a tablet computer, an in-vehicle computer, etc.

[0095] It can be understood that the content in the above method embodiments is applicable to the device embodiments of the present application. The functions specifically implemented in the device embodiments of the present application are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those in the above method embodiments.

[0096] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the above torque measurement method is implemented.

[0097] It can be understood that the content in the above method embodiments is applicable to the storage medium embodiments of the present application. The functions specifically implemented in the storage medium embodiments of the present application are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those in the above method embodiments.

[0098] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory optionally includes a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0099] A torque sensor and an implementation method thereof provided by an embodiment of the present application. In this solution, the torque sensor includes a composite elastic body and a sensing strain gauge. The composite elastic body includes an outer fixing ring, an inner fixing ring, spoke strain beams, and Y-shaped strain beams. The torque strain of the sensor can be concentrated and the non-torque strain can be dispersed through the composite elastic body. Most of the strain is shared by the spoke strain beams, and the deformation of the Y-shaped strain beam in the non-normal working torque direction is suppressed for mechanical decoupling, which can reduce the strain output and improve the anti-crosstalk ability of the sensor. In addition, the outer fixing ring and the inner fixing ring are concentric ring structures. The spoke strain beams are radially connected to the outer fixing ring and the inner fixing ring. The Y-shaped strain beams are arranged between adjacent spoke strain beams. The sensing strain gauges are printed on the Y-shaped strain beams and connected into a Wheatstone bridge. By connecting the sensing strain gauges into a Wheatstone bridge, the sensitivity of the sensor can be improved, multi-dimensional forces can be measured more accurately, and there are fewer leads and higher integration, enabling miniaturization of the sensor.

[0100] The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0101] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figures, or combine certain steps, or different steps.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices can be implemented as software, firmware, hardware, and appropriate combinations thereof.

[0104] In the description of this application and the above-mentioned accompanying drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of this application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0105] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects and indicates that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression refers to any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0106] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the above-mentioned division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0107] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0108] In addition, in each embodiment of the present application, each functional unit may be integrated into a processing unit, may exist physically as individual units, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0109] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media that can store programs, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0110] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. This does not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A torque sensor, characterized in that: The torque sensor comprises a composite elastic body and a sensing strain gauge, wherein the composite elastic body comprises an outer fixing ring, an inner fixing ring, a spoke strain beam and a Y-shaped strain beam; The outer fixing ring and the inner fixing ring are concentric ring structures, the spoke strain beams radially connect the outer fixing ring and the inner fixing ring, the Y-shaped strain beams are arranged between adjacent spoke strain beams, and the sensing strain sheets are printed on the Y-shaped strain beams and connected to form a Wheatstone bridge.

2. The torque sensor according to claim 1, characterized in that: The outer fixing ring is provided with an array of outer fixing holes, and the inner fixing ring is provided with an array of inner fixing holes. The outer fixing holes are used to connect to the housing of the torque device to be measured, and the inner fixing holes are used to connect to the torque output shaft of the torque device to be measured.

3. The torque sensor according to claim 1, characterized in that: The spoke strain beam has a rectangular cross section, and the spoke strain beam with a rectangular cross section is used to optimize bending and torsional rigidity.

4. The torque sensor according to claim 1, characterized in that: The Y-shaped strain beam includes a first strain beam, a second strain beam and a third strain beam, wherein the first strain beam is arranged on the left side of the third strain beam, the second strain beam is arranged on the right side of the third strain beam, the third strain beam is a rectangular strain beam, and the third strain beam is used to connect the Y-shaped strain beam and the inner fixing ring.

5. The torque sensor according to claim 4, characterized in that: The sensing strain gauge includes a first strain gauge and a second strain gauge, the first strain gauge and the second strain gauge are printed on the upper surface of the third strain beam, and the center points of the first strain gauge and the second strain gauge are located on the midline of the third strain beam.

6. The torque sensor according to claim 1, characterized in that: The material of the sensor transducer is carbon nanotube-silver composite conductive ink.

7. A torque measurement method, characterized in that: The torque measurement method is applied to the torque sensor according to any one of claims 1 to 6, and the method comprises the following steps: Fixing the torque output shaft of the torque device to be measured by performing interference fit between the inner fixing ring and the inner fixing hole of the torque sensor; Connecting the housing of the torque device to be measured through the outer fixing ring and the outer fixing hole of the torque sensor; The torque output by the torque output shaft of the torque device to be measured is measured by the spoke strain beam, the Y-shaped strain beam and the sensor strain sheet of the torque sensor to obtain a measurement result.

8. A torque measurement method according to claim 7, characterized in that: The method of measuring the torque outputted by the torque output shaft of the torque device to be measured by using the spoke strain beam, the Y-shaped strain beam and the sensing strain sheet of the torque sensor to obtain the measurement result comprises the following steps: The spoke strain beam and the Y-shaped strain beam receive the torque output by the torque output shaft of the torque device to be measured, and generate torque strain; Calculating the resistance value of the sensor transformer according to the torque strain to obtain a resistance change; The torque is calculated and processed according to the resistance change to obtain the measurement result.

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